| 摘要 |
PROBLEM TO BE SOLVED: To generate an appropriate steering reaction force corresponding to a road reaction force by eliminating friction torque. SOLUTION: A friction estimating section 82a of a steering mechanism calculates the estimation value d<SB>hE</SB>concerning the disturbance d<SB>h</SB>of the steering mechanism from the driving current I<SB>h</SB>and the steering angular speedω<SB>h</SB>of a reaction force motor based on the following expression (7) by means of a disturbance observer. Next, the friction estimating section 82a calculates the estimation value f<SB>hE</SB>(=d<SB>hE</SB>+T<SB>h</SB>) of the friction torque of the steering mechanism from the estimation value d<SB>hE</SB>and the steering torque T<SB>h</SB>. After that, the calculation of a torque for outputting, for example, a reaction torque, etc. corresponding to the road reaction force is carried out, in the intermediate stage process for controlling the reaction force motor. Particularly, in a friction compensation torque calculating section among these calculations of the torque, the friction compensation torque T<SB>fc</SB>is calculated by multiplying the estimation value f<SB>hE</SB>of the friction torque of the steering mechanism by the friction compensation gain G<SB>fh</SB>. The friction compensation torque T<SB>fc</SB>becomes a term for adjusting a feeling of friction by eliminating the friction torque f<SB>h</SB>of the steering mechanism. Expression (7): d<SB>h</SB>=K<SB>th</SB>G<SB>h</SB>I<SB>h</SB>-(J<SB>h</SB>dω<SB>h</SB>/dt). COPYRIGHT: (C)2005,JPO&NCIPI |
